• Korean Journal of Environment and Ecology
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• v.3 no.1
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• pp.51-69
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• 1989

To investigate edge vegetation structure and edge species in Kaya Mountain National Park, field survey was executed from July to August, 1989 and the result are as follows. Cantilevered and advancing types of edge vegetation were observed on site, The relative importance values of major species were changed along distance from edge to forest interior and were seemed to be affected by aspect, soil moisture and present tree layer vegetation. Especially, light-oriented species were observed as a codominant species under pine tree canopy due to selective allelopathy effect and thin canopy. Ecological indices according to the distance from edge to forest interior did not show regular pattern, but edge depth was estimated as 15-20m, approximately, Dominant species of edge seemed to be affected by soil moisture rather than altitude and aspect, but floristic similarities seemed to be affected by altitude. Frequency classes of edge species were different by aspect, altitude and physiogra-phical location. Lespedeza maximowiczii, Weigela subsessilis and Fraxinus rhynchophylla showed high frequency class in all environment conditions.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.290-295
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• 2011

On the basis of DCPA(Distance to Closest Point of Approach) and TCPA(Time to CPA), the conventional algorithms for collision avoidances have a drawback that the '72 CORLEGs(International Regulations for Preventing Collisions at Sea, 1972) has not taken into account to prevent collisions between ships. In this paper, the proposed algorithm decides whether the own ship is a give-way vessel or a stand-on vessel by observing the relative bearing of the encountered ship. To determine the ship position and time for collision avoidance, the proposed algorithm utilizes the ellipse model for ship safety domain. The computer simulation is done to represent the process of adversive behavior. Using the proposed method, the past maritime accident is analyzed. The proposed method can be effectively applied to collision avoidance by CORLEGs even when the target ship's navigational lights is invisible in poor weather and/or in the restricted visibility.

• The Journal of the Acoustical Society of Korea
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• v.38 no.3
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• pp.302-307
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• 2019

In modern Anti-Submarine Warfare, there are various ways to locate a submarine in a two-dimensional space. For more effective tracking and attack against a submarine the depth of the target is a critical factor. However, it has been difficult to find out the depth of a submarine until now. In this paper a possible solution to the depth estimation of submarines is proposed utilizing DIFAR (Directional Frequency Analysis and Recording) sonobuoy information such as contact bearings at or prior to CPA (Closest Point of Approach) and the target's Doppler signals. The relative depth of the target is determined by applying the Pythagorean theorem to the slant range and horizontal range between the target and the hydrophone of a DIFAR sonobuoy. The slant range is calculated using the Doppler shift and the target's velocity. the horizontal range can be obtained by applying a simple trigonometric function for two consecutive contact bearings and the travel distance of the target. The simulation results show that the algorithm is subject to an elevation angle, which is determined by the relative depth and horizontal distance between the sonobuoy and target, and that a precise measurement of the Doppler shift is crucial.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of Plant Biology
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• v.28 no.1
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• pp.1-8
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• 1985

To verify the cause of high productivity in Typha stand, leaf area index(LAI), leaf orientation and inclination, specific leaf area (SLA), and radiation interception profiles were determined in a natural Typha$\times$glauca stand. Throughout the growing season, the leaf inclination has been kept at near-right angle and leaf orientation has been random. These chracteristics were responsible for an uniform spatial arrangement of the leaves within the canopy and could be explained by the SLA value, which increased in their higher strata. The extinction coefficient (K) of the canopy, 0.12 to 0.20, was one of the smallest value out of terrestrial plant communities. At least more than 25% of full radiation penetrated into the lowest stratum of the canopy. High productivity of the Typha would be attributed to efficient penetration of the radiation in virtue of the stiff and straight leaves even though rather small LAI.

• Journal of Navigation and Port Research
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• v.39 no.4
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• pp.307-312
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• 2015

ARPA(Automatic Radar Plotting Aid) is a device to calculate CPA(closest point of approach)/TCPA(time of CPA), true course and speed of targets by vector operation of relative courses and speeds. The purpose of this study is to develop target acquisition and tracking technology for ARPA Radar implementation. After examining the previous studies, applicable algorithms and technologies were developed to be combined and basic ARPA functions were developed as a result. As for main research contents, the sequential image processing technology such as combination of grayscale conversion, gaussian smoothing, binary image conversion and labeling was deviced to achieve a proper target acquisition, and the NNS(Nearest Neighbor Search) algorithm was appllied to identify which target came from the previous image and finally Kalman Filter was used to calculate true course and speed of targets as an analysis of target behavior. Also all technologies stated above were implemented as a SW program and installed onboard, and verified the basic ARPA functions to be operable in practical use through onboard test.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.7
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• pp.55-62
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• 2006

This thesis describes collision avoidance using fuzzy logic based on "Right of way" rules of ICAO and FAA and pilot's experiences for Unmanned Aerial Vehicle(UAV). To apply the rules, we designed fuzzy logic based collision avoidance system. And we also designed decision logic for enable condition of collision avoidance system. Decision logic have three kinds of core key, i.e. Relative Range, Time of CPA(Closest Point of Approach) and Distance at CPA. Application of decision logic made a possible to avoid NMAC(Near Mid-Air Collision) and it has been verified through several simulations. To conclude, we proposed the method to carry out "See and Avoid" ability on UAVs, which is capability to mingle with manned aircraft in civil airspace.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.9
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• pp.889-895
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• 2011

In recent days, some techniques to prevent from radar detection have been applied on aircraft system. RWR(Radar Warning Receiver) can be used for estimating the source location of the aircraft which emits radar pulse. Current existing method of localizing radar pulse emission source is using AOA(Angle Of Arrival) and most techniques are focused on finding exact AOA to find exact location. In this case, however, the exact AOA does not always result in finding exact source location while target aircraft is moving fast. In this paper, a localization method using the phase delay of the radar pulse's low frequency applies and so a scanning method for the interest area does in order to estimate exact source location by using phase delay.

• Proceedings of the Materials Research Society of Korea Conference
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• 2003.03a
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• pp.26-26
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• 2003

본 연구에서는 누적압연접합공정(ARB)을 통하여 5052 알루미늄 합금의 결정립을 약 0.2$\mu\textrm{m}$ 크기로 미세화 하였다. 누적압연에 의한 변형량 증가에 따른 미세 조직 변화와 결정립 간의 상대적인 방위각 차이를 TEM을 이용하여 관찰하였다. 누적 변형량을 함수로 상온 인장특성을 분석하였고, 초미세립 소재를 후속 열처리한 후 미세 조직 변화를 관찰하여 제조된 초미세립 소재의 열적 안정성을 평가하였다. 상온 대기 중에서 pin-on-disk 형태의 마멸시험기를 사용하여 초미세립 소재의 미끄럼 마멸시험을 변형량과 하중을 변수로 행하였다. 강소성 변형에 의해 제조된 5052 알루미늄 합금 소재의 마멸저항성은 강소성 변형 전과 비교하여 소재의 경도가 크게 증가하였음에도 불구하고 오히려 감소하였다. 마멸시험 후 마멸면의 SEM, 마멸단면의 OM 관찰과 마멸면 직하의 깊이에 따른 경도측정을 통하여 초미세립 소재의 마멸기구를 분석하였고 마멸표면의 변형 층을 관찰하였다. 또한 마멸면 직하 조직의 TEM 관찰을 통해서 마멸시험 중의 미세 조직 변화를 연구하였다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2014.10a
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• pp.125-127
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• 2014

본 논문은 선박의 일대다 충돌상황에서 국제해상충돌예방규칙(COLREGs, International Regulations for Preventing Collisions at Sea, 1972)을 만족하도록 피항경로를 생성하는 충돌회피 알리고즘의 개발과 적용에 관해 기술한다. 본 연구에서 제안하는 알고리즘은 조우선박의 상대 방위각, 충돌위험정도 및 상호시계와 제한시계의 시계상태에 따라 피항동작을 분류하고, 규칙기반형태의 전문가시스템인 CLIPS(C Language Integrated Production System)를 이용하여 국제해상충돌예방규칙에 따른 피항행동공간을 생성한다. 검증을 위하여 Izuma problems의 3가지 충돌상황을 가정한 컴퓨터 시뮬레이션을 수행하였으며, 다양한 충돌상황에 대하여 안전한 충돌회피경로가 생성됨을 확인 할 수 있었다.